using System;
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using System.Linq;
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using System.Threading;
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using WIDESEA_Common;
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using WIDESEA_Common.Tools;
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using WIDESEA_Core.EFDbContext;
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using WIDESEA_Core.Utilities;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Services.IRepositories;
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using WIDESEA_Services.Repositories;
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using WIDESEA_Services.Services;
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using WIDESEA_WCS.WCSClient;
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namespace WIDESEA_WCS.SchedulerExecute.AGV
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{
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public partial class AGVSchedulerExecute
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{
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private static int _readUpdateAGVTaskSignalso = 0;
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public static void UpdateState(PLCClient plcClient)
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{
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if (Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 1) == 0)
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{
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try
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{
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if (plcClient == null)
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{
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return;
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}
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VOLContext context = new VOLContext();
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Idt_task_numberRepository tasknumberRep = new dt_task_numberRepository(context);
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Idt_agvtaskRepository agvtaskRepository = new dt_agvtaskRepository(context);
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Idt_agvtask_htyRepository agvtask_HtyRepository = new dt_agvtask_htyRepository(context);
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Ibase_ware_locationRepository locationRepository = new base_ware_locationRepository(context);
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Ibill_group_stockRepository group_StockRepository = new bill_group_stockRepository(context);
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dt_task_numberService tasknumber = new dt_task_numberService(tasknumberRep);
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int taskFbInteractive = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveR.ToString()));
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int taskFbInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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//0初始状态 1 RCS更新了一条任务状态
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if (1 == taskFbInteractive && taskFbInteractiveW == 0)
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{
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string taskId = plcClient.ReadValue(TaskDBName.taskIDFb.ToString()).ToString();//任务ID
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if (taskId.Contains("\b")) { taskId = taskId.Remove(0, 1); }
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int taskState = int.Parse(plcClient.ReadValue(TaskDBName.taskStatusFb.ToString()).ToString());//1起点执行中,2起点已完成,3终点执行中,4终点已完成
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if (0 == taskState)//无含义
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return;
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//WriteLog.GetLog().Write("任务号" + taskId + "任务状态" + taskState, "AGV更新任务状态");
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dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_tasknum == taskId).FirstOrDefault();
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if (1 == taskState)//任务起点执行中
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{
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if (null == agvTask)
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{
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throw new Exception("起点执行失败未找到任务,ID:" + taskId);
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}
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if (agvTask.agv_taskstate == AGVTaskStateEnum.Executing.ToString())
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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WriteLog.GetLog().Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务起点执行中状态确认1", "AGV更新任务状态");
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}
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agvTask.agv_taskstate = AGVTaskStateEnum.Executing.ToString();
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agvTask.agv_finishedtime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(300);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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if (agvnumber != 1)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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else
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{
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break;
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}
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}
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WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + "任务起点执行中状态确认1", "AGV更新任务状态");
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}
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else if (2 == taskState)//任务起点已完成
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{
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if (null == agvTask)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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WriteLog.GetLog().Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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return;
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}
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if (agvTask.agv_taskstate == AGVTaskStateEnum.Complete.ToString())
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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WriteLog.GetLog().Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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}
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else if (agvTask.agv_taskstate != AGVTaskStateEnum.Executing.ToString())
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{
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throw new Exception("任务状态更改为2起点已完成失败,任务ID:" + agvTask.agv_tasknum + DateTime.Now + ",任务状态不是起点执行中!");
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}
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if (agvTask.agv_tasknum.Contains(":"))
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{
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if (agvTask.agv_fromaddress.Contains("ZZLJ"))
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{
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var loc = locationRepository.FindFirst(f => f.upper_code == agvTask.agv_fromaddress || f.down_code == agvTask.agv_toaddress);
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loc.location_state = LocationStateEnum.LocationState_Stored.ToString();
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locationRepository.Update(loc, true);
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}
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//agvtask_HtyRepository.AddTaskHistory(agvTask, OperateType.Finished.ToString());
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agvtaskRepository.Delete(agvTask, true);
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(300);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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if (agvnumber != 1)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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else
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{
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break;
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}
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}
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WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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}
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else
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.Complete.ToString();
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//货位状态改成空，location_id为空
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bill_group_stock stock = new bill_group_stock();
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if (agvTask.agv_fromaddress.Contains("0201") && agvTask.agv_toaddress.Contains("ZZLJ")) { }
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else if (agvTask.agv_fromaddress.Contains("WLX") && agvTask.agv_toaddress.Contains("0101")) { }
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else if (agvTask.agv_toaddress.Contains("GMHX")) { }
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else if (agvTask.agv_toaddress.Contains("HXWLX"))
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{
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if (!agvTask.agv_fromaddress.Contains("KPHLX"))
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{
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var materbarcode = ""; /*agvTask.agv_materbarcode.Split(";");*/
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for (int i = 0; i < materbarcode.Count(); i++)
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{
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stock = null;/*group_StockRepository.Find(f => f.BarCode == materbarcode[i]).OrderByDescending(f => f.created_time).FirstOrDefault();*/
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if (stock != null)
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{
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stock.location_id = null;
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group_StockRepository.Update(stock, true);
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}
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if (materbarcode[0].Equals(materbarcode[1])) { break; }
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}
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}
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}
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else
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{
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stock = null;// group_StockRepository.Find(f => f.BarCode == agvTask.agv_materbarcode).OrderByDescending(f => f.created_time).FirstOrDefault();
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if (stock != null)
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{
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stock.location_id = null;
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group_StockRepository.Update(stock, true);
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}
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}
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base_ware_location location = locationRepository.Find(f => f.upper_code == agvTask.agv_fromaddress || f.down_code == agvTask.agv_fromaddress).FirstOrDefault();
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if (location != null)
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{
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location.location_state = LocationStateEnum.LocationState_Empty.ToString();
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locationRepository.Update(location, true);
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if (agvTask.agv_fromaddress.Contains("HCJ") || agvTask.agv_fromaddress.Contains("CBJ") || agvTask.agv_fromaddress.Contains("JJK") || agvTask.agv_fromaddress.Contains("ZZLJ"))
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{
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//plcClient.WriteValue(ConveyorLineGetLogDBName.MaterOK.ToString(), agvTask.agv_fromaddress, 0);
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//plcClient.WriteValue(ConveyorLineGetLogDBName.MaterNG.ToString(), agvTask.agv_fromaddress, 0);
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}
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}
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//如果是从库内出库，需要给WMS反馈出库物料确认搬走
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if (agvTask.agv_fromaddress.Contains("JJK"))
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{
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MESback WMSbackresult = new MESback();
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if (agvTask.agv_fromaddress.Contains("Z"))
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{
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//WMSbackresult = MESAPIInvoke.OutStockMaterMove(agvTask.agv_fromaddress, agvTask.agv_materielid, 1, 0);
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}
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else if (agvTask.agv_fromaddress.Contains("F"))
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{
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//WMSbackresult = MESAPIInvoke.OutStockMaterMove(agvTask.agv_fromaddress, agvTask.agv_materielid, 2, 0);
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}
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if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
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WriteLog.GetLog().Write("WCS反馈WMS任务号" + taskId + "任务起点完", "AGV更新任务状态");
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}
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else if (agvTask.agv_fromaddress.Contains("0101") || agvTask.agv_fromaddress.Contains("0201"))
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{
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MESback WMSbackresult = new MESback();
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if (agvTask.agv_toaddress.Contains("ZZLJ"))
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{
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//WMSbackresult = MESAPIInvoke.OutStockMaterMove(agvTask.agv_fromaddress, "空托盘", 3, 0);
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}
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else
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{
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//WMSbackresult = MESAPIInvoke.OutStockMaterMove(agvTask.agv_fromaddress, agvTask.agv_materielid, 3, 0);
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}
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if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
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WriteLog.GetLog().Write("WCS反馈WMS任务号" + taskId + "任务起点完", "AGV更新任务状态");
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}
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else if (agvTask.agv_fromaddress.Contains("FBT"))
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{
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var iswork = agvtaskRepository.FindFirst(f => f.agv_remark == "true" && f.agv_tasknum == taskId);
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if (iswork != null)
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{
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// var sum = "";//agvtaskRepository.Find(f => f.agv_materbarcode.Contains(iswork.agv_materbarcode.Substring(0, 2)) && f.agv_toaddress.Contains(iswork.agv_toaddress.Substring(0, 2))).Count();
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MESback WMSbackresult = new MESback();
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if (agvTask.agv_fromaddress.Contains("Z"))
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{
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//WMSbackresult = MESAPIInvoke.OutStockMaterMove(agvTask.agv_fromaddress, agvTask.agv_materielid, 4, sum);
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}
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else if (agvTask.agv_fromaddress.Contains("F"))
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{
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//WMSbackresult = MESAPIInvoke.OutStockMaterMove(agvTask.agv_fromaddress, agvTask.agv_materielid, 4, sum);
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}
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if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
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}
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}
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agvtaskRepository.Update(agvTask, true);
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(300);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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if (agvnumber != 1)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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else
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{
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break;
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}
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}
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WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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}
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}
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else if (3 == taskState)//任务终点执行中
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{
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if (null == agvTask)
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{
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throw new Exception("终点执行失败未找到任务,ID:" + taskId);
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}
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if (agvTask.agv_taskstate == AGVTaskStateEnum.Executing1.ToString())
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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WriteLog.GetLog().Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
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}
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if (agvTask.agv_tasknum.Contains(":"))
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{
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string[] taskidsplit = agvTask.agv_tasknum.Split(":");
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var alltask = agvtaskRepository.Find(v => v.agv_tasknum.Contains(taskidsplit[0])).ToList();
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foreach (var item in alltask)
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{
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//agvtask_HtyRepository.AddTaskHistory(item, OperateType.Abnormal.ToString());
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agvtaskRepository.Delete(item, true);
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if (item.agv_fromaddress.Contains("ZZLJ"))
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{
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var loc = locationRepository.FindFirst(f => f.upper_code == agvTask.agv_fromaddress || f.down_code == agvTask.agv_toaddress);
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loc.location_state = LocationStateEnum.LocationState_Stored.ToString();
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locationRepository.Update(loc, true);
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}
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}
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(300);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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if (agvnumber != 1)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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else
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{
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break;
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}
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}
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WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + DateTime.Now + "分段任务异常确认1", "AGV更新任务状态");
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}
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else
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.Executing1.ToString();
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//agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(300);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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if (agvnumber != 1)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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else
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{
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break;
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}
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}
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WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
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}
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}
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else if (4 == taskState)//任务终点完成
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{
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if (null == agvTask)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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WriteLog.GetLog().Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
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return;
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}
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else if (agvTask.agv_taskstate != AGVTaskStateEnum.Executing1.ToString())
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{
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//plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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throw new Exception("任务状态更改为4终点已完成失败,任务ID:" + agvTask.agv_tasknum + DateTime.Now + ",任务状态不是终点执行中!");
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}
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//如果是设备就不用更改，是缓存架货位状态为已存储，(库存表)location_id=（货位表）的货位
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base_ware_location location = locationRepository.FindFirst(f => f.upper_code == agvTask.agv_toaddress || f.down_code == agvTask.agv_toaddress);
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bill_group_stock stock = new bill_group_stock();
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if (agvTask.agv_fromaddress.Contains("0201") && agvTask.agv_toaddress.Contains("ZZLJ"))
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{
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//location.location_state = LocationStateEnum.LocationState_Wait.ToString();
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locationRepository.Update(location, true);
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}
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else if (agvTask.agv_toaddress.Contains("LJHCX")) { }
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else if (agvTask.agv_fromaddress.Contains("WLX") && agvTask.agv_toaddress.Contains("0101"))
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{
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location.location_state = LocationStateEnum.LocationState_Stored.ToString();
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locationRepository.Update(location, true);
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//MESback WMSbackresult = MESAPIInvoke.InStockMaterBind(agvTask.agv_toaddress, "空托盘", agvTask.agv_tasknum, "OK", 3);
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//if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
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}
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else if (agvTask.agv_toaddress.Contains("GMHX"))
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{
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//var materbarcode = agvTask.agv_materbarcode.Split(",");
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//List<BakingClass> materials = new List<BakingClass>();
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//for (int i = 0; i < materbarcode.Count(); i++)
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//{
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// BakingClass bakingClass = new BakingClass();
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// bakingClass.BarCode = materbarcode[i];
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// bakingClass.MaterialType = agvTask.agv_materielid;
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// materials.Add(bakingClass);
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// WriteLog.GetLog("烘烤").Write("materials" + materials[i].BarCode + "\t" + materials[i].MaterialType + "\t" + bakingClass.BarCode + "\t" + bakingClass.MaterialType + DateTime.Now, "烘烤物料条码");
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//}
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//MESback WMSbackresult = MESAPIInvoke.BakingFeedingBinding(agvTask.agv_toaddress, materials);
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//if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
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}
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else if (agvTask.agv_toaddress.Contains("HXWLX"))
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{ //如果是进烘箱的任务，需要告诉WMS两个进烘箱物料的条码和位置,需要问胡工怎么给他值
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if (agvTask.agv_fromaddress.Contains("KPHLX"))
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{
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//var materials = WebApiHelper.ParseFromJson<List<BakingClass>>(agvTask.agv_materbarcode);
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//MESback WMSbackresult = MESAPIInvoke.BakingFeedingBinding(agvTask.agv_toaddress, materials);
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//if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
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}
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else
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{
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WebResponseContent content = new WebResponseContent();
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group_StockRepository.DbContextBeginTransaction(() =>
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{
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//var materbarcode = agvTask.agv_materbarcode.Split(";");
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//List<BakingClass> materials = new List<BakingClass>();
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//for (int i = 0; i < materbarcode.Count(); i++)
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//{
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// BakingClass bakingClass = new BakingClass();
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// stock = group_StockRepository.Find(f => f.BarCode == materbarcode[i]).OrderByDescending(f => f.created_time).FirstOrDefault();
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// bakingClass.BarCode = materbarcode[i];
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// bakingClass.MaterialType = stock.MaterialType;
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// materials.Add(bakingClass);
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// group_StockRepository.Delete(stock, true);
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// WriteLog.GetLog("烘烤").Write("materials" + materials[i].BarCode + "\t" + materials[i].MaterialType + "\t" + bakingClass.BarCode + "\t" + bakingClass.MaterialType + DateTime.Now, "烘烤物料条码");
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//}
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//MESback WMSbackresult = MESAPIInvoke.BakingFeedingBinding(agvTask.agv_toaddress, materials);
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//if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return WebResponseContent.Instance.Error(WMSbackresult.Message); }
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//如果终点地址是去烘烤箱的删除库存
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location.location_state = LocationStateEnum.LocationState_Empty.ToString();
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locationRepository.Update(location, true);
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return WebResponseContent.Instance.OK();
|
});
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}
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}
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else
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{
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//stock = group_StockRepository.Find(f => f.BarCode == agvTask.agv_materbarcode).OrderByDescending(f => f.created_time).FirstOrDefault();
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if (!agvTask.agv_toaddress.Contains("SB") && !agvTask.agv_fromaddress.Contains("WLX") && !agvTask.agv_toaddress.Contains("JJK") && !agvTask.agv_toaddress.Contains("WLX"))
|
{
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if (stock == null)
|
{
|
//bill_group_stock newstock = new bill_group_stock
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//{
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// BarCode = agvTask.agv_materbarcode,
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// MaterialType = agvTask.agv_materielid,
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// MaterialStatus = "nou",
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// first_tb = 0,
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// location_id = location.id,
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// TB_Status = "",
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// FQ_Status = "",
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// GY_Status = "",
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// QX_Status = "",
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// created_time = DateTime.Now,
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// created_user = "WCS",
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// updated_time = DateTime.Now,
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// updated_user = "WCS"
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//};
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//group_StockRepository.Add(newstock, true);
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}
|
else
|
{
|
if (agvTask.agv_fromaddress.Contains("JJK"))
|
{
|
stock.TB_Status = "";
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stock.FQ_Status = "";
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stock.GY_Status = "";
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stock.QX_Status = "";
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}
|
stock.location_id = location.id;
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stock.created_time = DateTime.Now;
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stock.updated_time = DateTime.Now;
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group_StockRepository.Update(stock, true);
|
}
|
location.location_state = LocationStateEnum.LocationState_Stored.ToString();
|
locationRepository.Update(location, true);
|
if (agvTask.agv_toaddress.Contains("HCJ") || agvTask.agv_toaddress.Contains("CBJ") || agvTask.agv_toaddress.Contains("ZZLJ"))
|
{
|
if (!agvTask.agv_fromaddress.Contains("SB"))
|
{
|
if (stock.MaterialStatus == "OK")
|
{
|
//plcClient.WriteValue(ConveyorLineGetLogDBName.MaterOK.ToString(), agvTask.agv_toaddress, 1);
|
}
|
else
|
{
|
//plcClient.WriteValue(ConveyorLineGetLogDBName.MaterNG.ToString(), agvTask.agv_toaddress, 1);
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}
|
}
|
}
|
//如果终点地址是库内，需要给WMS反馈入库物料绑定
|
if (agvTask.agv_toaddress.Length < 12)
|
{
|
//MESback WMSbackresult = MESAPIInvoke.InStockMaterBind(agvTask.agv_toaddress, stock.MaterialType, stock.BarCode, stock.MaterialStatus, 3);
|
//if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
|
}
|
}
|
else if (agvTask.agv_toaddress.Contains("SB"))
|
{
|
//plcClient.WriteValue(ConveyorLineGetLogDBName.MaterNG.ToString(), agvTask.agv_fromaddress, 0);
|
//plcClient.WriteValue(ConveyorLineGetLogDBName.MaterOK.ToString(), agvTask.agv_fromaddress, 0);
|
//如果终点地址是去设备
|
group_StockRepository.Delete(stock, true);
|
}
|
else if (agvTask.agv_toaddress.Contains("WLX001"))
|
{
|
if (agvTask.agv_code.Contains("正"))
|
{
|
//添加物料条码，三楼输送线出口取前两个条码
|
var barcode = tasknumberRep.FindFirst(v => v.taskno == 1);
|
//barcode.numtype = barcode.numtype + agvTask.agv_materbarcode + ";";
|
tasknumberRep.Update(barcode, true);
|
}
|
else
|
{
|
//添加物料条码，三楼输送线出口取前两个条码
|
var barcode = tasknumberRep.FindFirst(v => v.taskno == 2);
|
//barcode.numtype = barcode.numtype + agvTask.agv_materbarcode + ";";
|
tasknumberRep.Update(barcode, true);
|
}
|
}
|
else if (agvTask.agv_toaddress.Contains("JJK"))
|
{
|
location.location_state = LocationStateEnum.LocationState_Stored.ToString();
|
locationRepository.Update(location, true);
|
if (stock.MaterialStatus == "OK")
|
{
|
//plcClient.WriteValue(ConveyorLineGetLogDBName.MaterOK.ToString(), agvTask.agv_toaddress, 0);
|
}
|
else
|
{
|
//plcClient.WriteValue(ConveyorLineGetLogDBName.MaterNG.ToString(), agvTask.agv_toaddress, 0);
|
}
|
if (agvTask.agv_toaddress.Contains("Z"))
|
{
|
//MESback WMSbackresult = MESAPIInvoke.InStockMaterBind(agvTask.agv_toaddress, stock.MaterialType, stock.BarCode, stock.MaterialStatus, 1);
|
//if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); }
|
}
|
else if (agvTask.agv_toaddress.Contains("F"))
|
{
|
//MESback WMSbackresult = MESAPIInvoke.InStockMaterBind(agvTask.agv_toaddress, stock.MaterialType, stock.BarCode, stock.MaterialStatus, 2);
|
//if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); }
|
}
|
}
|
}
|
agvtaskRepository.Delete(agvTask, true);
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
for (int i = 0; i < 5; i++)
|
{
|
Thread.Sleep(300);
|
var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
|
if (agvnumber != 1)
|
{
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
}
|
else
|
{
|
break;
|
}
|
}
|
WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
|
}
|
}
|
//if (taskFbInteractive == 1 && taskFbInteractiveW == 1)//反馈没收到重新反馈
|
// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 0);
|
if (taskFbInteractive == 0 && taskFbInteractiveW == 1)
|
{
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 0);
|
for (int i = 0; i < 5; i++)
|
{
|
Thread.Sleep(300);
|
var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
|
if (agvnumber != 0)
|
{
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 0);
|
}
|
else
|
{
|
break;
|
}
|
}
|
}
|
|
}
|
catch (Exception ex)
|
{
|
WriteLog.GetLog().Write("WCS接收AGV任务反馈异常" + ex.Message.ToString() + DateTime.Now, "AGV更新任务状态");
|
}
|
finally
|
{
|
Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 0);
|
}
|
}
|
|
}
|
}
|
|
}
|
